CN113894797A - Robot protection control method, device, equipment and storage medium based on dynamic current detection - Google Patents
Robot protection control method, device, equipment and storage medium based on dynamic current detection Download PDFInfo
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- CN113894797A CN113894797A CN202111411131.5A CN202111411131A CN113894797A CN 113894797 A CN113894797 A CN 113894797A CN 202111411131 A CN202111411131 A CN 202111411131A CN 113894797 A CN113894797 A CN 113894797A
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
The embodiment of the application provides a robot protection control method, a device, equipment and a storage medium based on dynamic current detection, and relates to the technical field of robot control. This application is at first acquireed the complete machine current value of robot and the state of each steering wheel of robot, then acquires the current gesture of robot, the current gesture of robot includes: and when the robot is in the current action, the robot rotates by a rotation angle sequence formed by the states of all the steering engines of the robot. And if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to a first current threshold value, controlling the robot to execute a target action according to the current posture of the robot and stopping supplying power to the robot. The method and the device can realize timely and effective detection of the short circuit problem of the robot sensor and the internal circuit board, and take protective measures.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a robot protection control method, device, equipment and storage medium based on dynamic current detection.
Background
In the debugging or use process of the robot, the problem that the robot is damaged due to short circuit of the sensor and the internal circuit board is not eliminated. In addition, the current is too large due to short circuit, the temperature of the robot is also increased, and potential safety hazards exist.
However, in the prior art, the steering engine stalling detection is caused only after the sensor and the internal circuit board are short-circuited for a period of time, the short-circuit problem cannot be detected in time, and the robot is possibly damaged. Meanwhile, in the prior art, no protection measures for the short circuit problem of the robot exist, and the robot with the continuously increased temperature caused by the short circuit can continue to move, so that potential safety hazards are caused.
Disclosure of Invention
The invention aims to provide a robot protection control method, a device, equipment and a storage medium based on dynamic current detection, which can realize timely and effective detection of short circuit problems of a robot sensor and an internal circuit board and take protective measures.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a robot protection control method based on dynamic current detection, where the method includes:
acquiring the whole machine current value of the robot and the states of all steering engines of the robot;
obtain the information of each steering wheel of robot, the information of each steering wheel of robot includes: the current value of each steering engine and the rotation angle of each steering engine;
acquiring the current posture of the robot, wherein the current posture of the robot comprises: when the robot is in the current action, the robot is in a rotation angle sequence formed by rotation angles of all steering engines of the robot;
and if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to a first current threshold value, controlling the robot to execute a target action according to the current posture of the robot and stopping supplying power to the robot. In an alternative embodiment, the states of the steering engines of the robot include: the current value of each steering engine and the rotation angle of each steering engine;
if the state of at least one steering wheel among each steering wheel is unusual, and, the complete machine current value of robot is greater than or equal to first current threshold value, then according to the current gesture of robot, control the robot carries out the target action, and stop for before the power supply of robot, still include:
if the detected current value of the first steering engine is larger than or equal to a second current threshold value and the rotation angle of the first steering engine is smaller than a preset threshold value, determining that the state of the first steering engine is abnormal;
the first steering engine is any one of the steering engines.
In an optional implementation manner, if a state of at least one of the steering engines is abnormal, and a total machine current value of the robot is greater than or equal to a first current threshold, the method further includes, before controlling the robot to execute a target action according to a current posture of the robot and stopping power supply to the robot, controlling the robot to perform a target action according to a current posture of the robot:
acquiring the motion acceleration of the robot;
and if the current value of the leg steering engine of the robot is greater than or equal to a third current threshold value and the motion acceleration of the robot is smaller than a preset threshold value, determining that the state of the leg steering engine is abnormal.
In an optional embodiment, the acquiring the motion acceleration of the robot includes:
acquiring current gyroscope parameters of the robot;
and determining the motion acceleration of the robot according to the current gyroscope parameters of the robot.
In an optional implementation manner, if a state of at least one of the steering engines is abnormal, and a total machine current value of the robot is greater than or equal to a first current threshold, the method further includes, before controlling the robot to execute a target action according to a current posture of the robot and stopping power supply to the robot, controlling the robot to perform a target action according to a current posture of the robot:
acquiring the maximum bearable current of each steering engine of the robot;
and adding the maximum bearable current of each steering engine to obtain a first current threshold value.
In an alternative embodiment, the controlling the robot to perform the target action includes:
controlling the robot to perform a squat action so that the robot adjusts to a squat posture.
In an optional embodiment, the controlling the robot to perform the target action and to stop supplying power to the robot includes:
and controlling the robot to execute a target action, stopping supplying power to the robot, and outputting preset warning information.
In a second aspect, an embodiment of the present application provides a robot protection control device based on dynamic current detection, where the device includes:
the acquisition module is used for acquiring the complete machine current value of the robot and the states of all steering engines of the robot;
the acquisition module is specifically still used for, acquires the information of each steering wheel of robot, the information of each steering wheel of robot includes: the current value of each steering engine and the rotation angle of each steering engine;
the obtaining module is further specifically configured to obtain a current pose of the robot, where the current pose of the robot includes: when the robot is in the current action, the robot is in a rotation angle sequence formed by rotation angles of all steering engines of the robot;
and the control module is used for controlling the robot to execute a target action and stopping supplying power to the robot according to the current posture of the robot if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to a first current threshold value.
In an alternative embodiment, the apparatus further comprises:
the determining module is used for determining that the state of the first steering engine is abnormal if the current value of the first steering engine is detected to be larger than or equal to a second current threshold value and the rotating angle of the first steering engine is smaller than a preset threshold value;
the first steering engine is any one of the steering engines.
In an optional implementation manner, the obtaining module is specifically further configured to:
acquiring the motion acceleration of the robot;
in an optional implementation manner, the determining module is specifically further configured to:
and if the current value of the leg steering engine of the robot is greater than or equal to a third current threshold value and the motion acceleration of the robot is smaller than a preset threshold value, determining that the state of the leg steering engine is abnormal.
In an optional implementation manner, the obtaining module is specifically further configured to:
acquiring current gyroscope parameters of the robot;
in an optional implementation manner, the determining module is specifically further configured to:
and determining the motion acceleration of the robot according to the current gyroscope parameters of the robot.
In an optional implementation manner, the obtaining module is specifically further configured to:
acquiring the maximum bearable current of each steering engine of the robot;
in an optional implementation manner, the determining module is specifically further configured to:
and adding the maximum bearable current of each steering engine to obtain a first current threshold value.
In an optional implementation manner, the control module is specifically further configured to:
controlling the robot to perform a squat action so that the robot adjusts to a squat posture.
In an optional implementation manner, the control module is specifically further configured to:
and controlling the robot to execute a target action, stopping supplying power to the robot, and outputting preset warning information.
In a third aspect, an embodiment of the present application provides a computer device, where the computer device includes:
the robot protection control method comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the computer device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to execute the steps of the robot protection control method based on dynamic current detection according to any one of the preceding embodiments.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the robot protection control method based on dynamic current detection as described in any one of the foregoing embodiments are implemented.
The beneficial effects of the embodiment of the application include:
by adopting the robot protection control method, device, equipment and storage medium based on dynamic current detection, firstly, the problem of short circuit fault that the states of the steering engines are abnormal and the current value of the whole robot exceeds a preset range can be found in time according to the states of the steering engines of the robot and the current value of the whole robot, and protective measures are taken to avoid damage to the robot caused by short circuit and bring economic loss to users. Secondly, the protection measures executed by the method are that the robot executes the target action and stops supplying power, the robot can be made to be in a relatively safe action state, the temperature of the robot is prevented from being continuously increased due to continuous power supply, and potential safety hazards are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart illustrating steps of a robot protection control method based on dynamic current detection according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating another step of a robot protection control method based on dynamic current detection according to an embodiment of the present application;
fig. 3 is a flowchart illustrating another step of a robot protection control method based on dynamic current detection according to an embodiment of the present application;
fig. 4 is a flowchart illustrating another step of a robot protection control method based on dynamic current detection according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot protection and control device based on dynamic current detection according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a robot protection and control device based on dynamic current detection according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Icon: 10-robot protection control device based on dynamic current detection; 1001-acquisition module; 1002-a control module; 1003-determination module; 2001-a processor; 2002-memory.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The short circuit refers to the condition that current is not directly switched on through an electric appliance, and when the short circuit occurs, the conductive parts with different electric potentials in the circuit are in short circuit with low resistance, namely, a power supply is directly switched on through a wire without passing through a load to form a closed loop. The resistance value in the circuit is reduced to cause the current to increase suddenly, the heat emitted instantly can be increased and is higher than the heat productivity of the circuit in normal working, so that the insulating protective layer of the connecting wire in the circuit can be burnt, metal can be melted, and fire is caused.
During the debugging or using process of the robot, the problem of short circuit of the sensor and the internal circuit board is inevitable. Due to short circuit, the steering engine is in an abnormal state with only current input and no rotation angle output. Moreover, the short circuit may also cause the overall current value of the robot to increase, which may damage the robot. However, in the prior art, only the motor stalling condition is detected, the problem that the robot is short-circuited cannot be timely found, and the robot is possibly damaged due to high temperature caused by short circuit.
Based on the above, through research, the applicant provides a robot protection control method, a device, equipment and a storage medium based on dynamic current detection, which can detect the problems that the steering engine state is abnormal and the current value of the whole robot exceeds a preset range due to the short circuit of the robot, and take protection measures to avoid the damage to the robot due to the short circuit and bring economic loss to a user.
The following explains a robot protection control method, a robot protection control device, a robot protection control apparatus, a robot protection control device, and a storage medium based on dynamic current detection, which are provided in embodiments of the present application, with reference to a plurality of specific application examples.
It should be noted that the robot to which the method provided in the embodiment of the present application is applied may be a humanoid robot or a humanoid robot, including an arm, a leg, a trunk, and the like. In addition, each joint of the whole body of the robot can also comprise a steering engine with a plurality of degrees of freedom, and the steering engines are used for controlling the motion of the robot. Of course, the shape of the robot and the number of the steering engines are not limited in this application.
Fig. 1 is a flowchart of steps of a robot protection control method based on dynamic current detection according to an embodiment of the present application, where an execution main body of the method may be a processing device with processing capability, and the processing device may be disposed inside a robot or outside the robot, and establishes a communication connection with the robot through a wireless or wired network. As shown in fig. 1, the method includes:
and S101, acquiring the current value of the whole robot and the states of all steering engines of the robot.
The current value of the whole robot is the current value of the robot during movement, and can be obtained by reading the current value of the power supply of the robot. It can be understood that the overall current value of the robot is a value that dynamically changes under the influence of the motion performed by the robot.
The state of each steering engine of the robot can refer to the current working state of the robot, and the state can be a normal state or an abnormal state.
Step S102, acquiring information of each steering engine of the robot, wherein the information of each steering engine of the robot comprises the following steps: the current value of each steering engine and the rotation angle of each steering engine.
Optionally, the state of each steering wheel of robot can be decided according to the information of each steering wheel of robot, and the information of each steering wheel of robot includes: current values of the steering gears, rotation angles of the steering gears, and the like. Wherein, the current value of each steering wheel can contain the parameter of two dimensions: the magnitude of the current value of each steering engine and the input time of the current value of each steering engine.
The current value of each steering engine is used as input data of the steering engine, and the rotation angle of each steering engine is corresponding output data. The current input time of each steering engine determines the rotation angle of each steering engine, and the current value of each steering engine influences the load of each steering engine and is in positive correlation. Therefore, whether the steering engine is in a normal state can be determined according to whether the current value of each steering engine and the rotation angle of each steering engine meet the correlation.
Step S103, acquiring the current posture of the robot, wherein the current posture of the robot comprises: and when the robot is in the current action, the robot is in a rotation angle sequence formed by the rotation angles of all the steering engines of the robot.
The action of the robot is generated by the control of steering engines with various degrees of freedom of the whole body, and it can be understood that when the rotation angle of the steering engine of a certain joint of the robot is determined, the action corresponding to the joint is also determined accordingly. For example, when the robot arm is put down, when the rotation angle of the steering gear at the joint position of the shoulder part of the robot is 0 degree, when the robot lifts up, the rotation angle of the steering gear is 180 degrees. That is, when the rotation angle of the steering engine at the joint position of the shoulder part of the robot is 180 degrees and the rotation angles of the steering engines at other positions are 0 degree, the hand-lifting action of the robot can be expressed.
Therefore, a rotation angle sequence composed of rotation angles of the steering gears of the robot can also represent the current action of the robot, and the robot can achieve the current posture by executing the action represented by the rotation angle sequence.
And S104, if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to the first current threshold value, controlling the robot to execute a target action according to the current posture of the robot and stopping supplying power to the robot.
As described above, the current value of the whole robot also increases due to a short circuit inside the robot. When the steering engine works abnormally and the current value of the whole machine is larger than or equal to the first current threshold value, the current robot can be determined to be in a short-circuit state, and protective measures are required to be taken in time and the power is cut off. The first current threshold value can be set according to current parameters of each steering engine.
The protective measure may be to make the robot execute a target action, and it can be understood that the target action may also be represented by a rotation angle sequence formed by rotation angles of steering engines of the robot. And controlling the robot to execute the target action, namely calculating the difference value corresponding to the rotation angle of each steering engine in the rotation angle sequence of the current action and the rotation angle sequence of the target action, and controlling the rotation angle of each steering engine to change the corresponding difference value.
In the embodiment, according to the states of all steering engines of the robot and the current value of the whole robot, the short-circuit fault problem that the states of the steering engines are abnormal and the current value of the whole robot exceeds a preset range is found in time, and protective measures are taken to avoid damage to the robot due to short circuit and bring economic loss to a user. Secondly, the protection measures executed by the method are that the robot executes the target action and stops supplying power, the robot can be made to be in a relatively safe action state, the temperature of the robot is prevented from being continuously increased due to continuous power supply, and potential safety hazards are avoided.
Optionally, in step S104, if the state of at least one of the steering engines is abnormal, and the overall current value of the robot is greater than or equal to the first current threshold, before controlling the robot to execute the target action according to the current posture of the robot and stopping supplying power to the robot, the method further includes: and if the detected current value of the first steering engine is larger than or equal to the second current threshold value and the rotation angle of the first steering engine is smaller than the preset threshold value, determining that the state of the first steering engine is abnormal. Wherein, first steering wheel is any steering wheel in each steering wheel.
As described in the foregoing embodiment, when the state of the first steering engine is normal, the steering engine may output a corresponding rotation angle for moving the steering engine according to the current input information, that is, the first steering engine may move normally.
When the state of the first steering engine is abnormal, the situation that the output rotation angle is smaller than the preset threshold value even if the steering engine has current information input may occur. At this time, if the current value of the first steering engine is still greater than or equal to the second current threshold value, and the correlation between the current information input by the first steering engine and the output rotation angle is incorrect, it can be determined that the first steering engine is in a short circuit and is in an abnormal state.
Wherein the preset threshold may be set to a smaller value, such as 5 degrees. The second current threshold may be a maximum current value that the first steering engine can bear without being damaged, and the value may be set to be less than or equal to 120% of a rated current on the first steering engine, which is not limited herein.
It can be understood that the above process of determining the abnormality of the first steering engine is applicable to any one of the plurality of steering engines included in the whole body of the robot.
In this embodiment, whether the steering engine is in an abnormal state of short circuit is determined by simultaneously determining the relationship between the current value and the rotation angle of the steering engine and the respective corresponding threshold values. Through the judgment process, the misjudgment caused by the fact that the rotation angle of the steering engine is too small or the current is too large under the condition that the robot is too small in action or too large in load can be avoided, and the accuracy is improved.
Optionally, as shown in fig. 2, in step S104, if a state of at least one of the steering engines is abnormal, and a total current value of the robot is greater than or equal to a first current threshold, before controlling the robot to execute a target action according to a current posture of the robot and stopping power supply to the robot, the method may further include the following steps:
in step S201, a motion acceleration of the robot is acquired.
Alternatively, the motion acceleration of the robot can be interpreted as that, when the robot makes variable-speed motion, the value for measuring the speed change speed comprises two parameters of the magnitude and the direction of the change of the speed change of the robot, and is a vector measurement. The motion acceleration of the robot can be calculated by the difference between the speed and the direction of the robot at the current moment and the speed and the direction of the robot at the previous moment.
And S202, if the current value of the leg steering engine of the robot is greater than or equal to a third current threshold value and the motion acceleration of the robot is smaller than a preset threshold value, determining that the state of the leg steering engine is abnormal.
Besides the method for determining the abnormal state of the steering engine in the embodiment, the embodiment of the application also provides a method for determining the state of the steering engine of the leg of the robot. As previously indicated, when the acceleration of the motion of the robot is less than the preset threshold, it can be considered that no motion of the robot has occurred. If the current value of the leg steering engine of the robot is larger than or equal to the third current threshold value, the robot can be confirmed to be in a short circuit state, namely the state of the leg steering engine of the robot is abnormal.
The preset threshold may be a small motion acceleration, for example, 0.01m/s (meters per second), and the third current threshold may be a maximum current value that can be borne under the condition that the leg steering engine is not damaged, and the value may be set to be less than or equal to 120% of a rated current on the leg steering engine, which is not limited herein.
In this embodiment, a method for judging the state abnormality of the leg steering engine is provided, where the leg steering engine is related to the motion state of the robot, and when the current of the leg steering engine of the robot is too large but the robot does not move, it can be determined that the steering engine is abnormal in time. Compared with the judging mode of the whole-body steering engine state of the robot, the mode of confirming the state of the leg steering engine is provided from another dimension, and the judging accuracy of the steering engine state is improved.
As shown in fig. 3, in step S201, the process of acquiring the motion acceleration of the robot may include:
and step S2011, acquiring the current gyroscope parameters of the robot.
The gyroscope of the robot can be a device consisting of a gyroscope part and a power supply part, and a gyroscope body is lifted by a silk thread in the device to enable a rotating shaft to be horizontal and used for recording the motion state of the robot. When the robot moves, the gyro body generates the time-lapse motion in the device, so that the parameters of the gyroscope are changed. The parameters of the gyroscope may include: roll angle, pitch angle, and yaw angle.
Step S2012, determining a motion acceleration of the robot according to the current gyroscope parameter of the robot.
The motion acceleration of the corresponding robot can be calculated by the difference between the parameter of the gyroscope at the current moment and the parameter of the gyroscope at the previous moment, and the specific calculation mode is not limited in the application.
In the embodiment, the motion acceleration of the robot is calculated through the parameters acquired by the gyroscope of the robot, and compared with a method of calculating by using an accelerometer in the prior art, the calculation method can reduce the installation of hardware devices and achieve the purpose of simplifying the structure of the robot.
As shown in fig. 4, in step S104, if the state of at least one of the steering engines is abnormal and the overall current value of the robot is greater than or equal to a first current threshold, before controlling the robot to execute a target action according to the current posture of the robot and stopping power supply to the robot, the method may further include the following steps:
and S301, acquiring the maximum bearable current of each steering engine of the robot.
Alternatively, as described in the foregoing embodiments, the maximum loadable current of each steering engine of the robot may be the maximum current value that each steering engine can bear without being damaged. The maximum loadable current value can be obtained in advance through a test and the like, and for example, the maximum loadable current value can be set to be less than or equal to 120% of the rated current calibrated on the steering engine.
And step S302, adding the maximum bearable currents of all the steering engines to obtain a first current threshold.
The maximum bearable currents of the steering engines are added, namely when the robot moves abnormally and the load of the steering engines increases to cause abnormal increase of the currents, the maximum current which can be reached by the current value of the whole robot is set as a first current threshold value. If the first current threshold is exceeded, the robot is considered to have abnormal motion, and a protection program is started.
In this embodiment, the sum of the maximum bearable currents of the steering engines is preset through setting, so that when abnormal motion occurs to the robot, the robot can be detected timely through the currents, and damage to the robot caused by the overhigh currents can be avoided.
Optionally, in step S104, the controlling the robot to execute the target action further includes: and controlling the robot to perform a squatting action so that the robot is adjusted to a squatting posture.
It can be understood that the robot is adjusted to the target attitude from the rotation angle sequence corresponding to the current attitude, and in the progressive process of the corresponding rotation angle sequence, the rotation angle difference value of the rotation angle sequence corresponding to the steering engine corresponding to the two attitudes needs to be adjusted. Wherein the target posture may be a squat posture, which is not limited herein.
Because the difference value of the rotation angle of each steering engine is possibly different, the time required by each steering engine is different when the robot is adjusted from the current posture to the squatting posture, and in order to facilitate control and execution, in the embodiment of the application, the difference value of the rotation angle sequence corresponding to the two postures of each steering engine is segmented into a plurality of rotation angle sequences with the same interval time according to the maximum speed of the rotation angle adjustment of each steering engine and the maximum rotation angle which can be output by each steering engine in one adjustment, and the rotation angle sequences are sequentially executed, so that the robot is finally adjusted from the current posture to the squatting posture.
In this embodiment, the target action to be performed by the robot is a squat action, and when the robot is adjusted to the squat posture, the power supply to the robot is stopped. The gesture of squatting can guarantee that the short circuit leads to the contact minimizing of high temperature robot and surrounding environment, avoids igniting the combustible substance, causes the potential safety hazard of conflagration.
Optionally, in step S104, the controlling the robot to execute the target action and stop supplying power to the robot further includes: and controlling the robot to execute the target action, stopping supplying power to the robot, and outputting preset warning information.
It should be noted that the preset warning information may be an error code, a serial number, a warning ring, or the like, and a developer or a user may determine a corresponding failure cause according to a table of the preset warning information and the failure cause, which is not limited in this application.
In addition, the preset warning information may be output on a display screen of the robot or may be output through a speaker of the robot.
In this embodiment, through the warning information of predetermineeing of output, the user of being convenient for confirms the reason that the mistake took place, and the follow-up maintenance of being convenient for has improved efficiency.
Referring to fig. 5, an embodiment of the present application further provides a robot protection and control device 10 based on dynamic current detection, including:
the obtaining module 1001 is used for obtaining the complete machine current value of the robot and the state of each steering engine of the robot.
The obtaining module 1001 is further used for obtaining information of each steering engine of the robot, and the information of each steering engine of the robot includes: the current value of each steering engine and the rotation angle of each steering engine.
The obtaining module 1001 is further specifically configured to obtain a current pose of the robot, where the current pose of the robot includes: and when the robot is in the current action, the robot is in a rotation angle sequence formed by the rotation angles of all the steering engines of the robot.
And the control module 1002 is configured to, if the state of at least one of the steering engines is abnormal and the current value of the whole robot is greater than or equal to the first current threshold, control the robot to execute a target action according to the current posture of the robot and stop supplying power to the robot.
As shown in fig. 6, the robot protection and control device 10 based on dynamic current detection further includes:
the determining module 1003 is configured to determine that the state of the first steering engine is abnormal if the current value of the first steering engine is detected to be greater than or equal to the second current threshold and the rotation angle of the first steering engine is smaller than a preset threshold. Wherein, first steering wheel is any steering wheel in each steering wheel.
The obtaining module 1001 is further specifically configured to: and acquiring the motion acceleration of the robot.
The determining module 1003 is further specifically configured to: and if the current value of the leg steering engine of the robot is greater than or equal to the third current threshold value and the motion acceleration of the robot is smaller than the preset threshold value, determining that the state of the leg steering engine is abnormal.
The obtaining module 1001 is further specifically configured to: and acquiring the current gyroscope parameters of the robot.
The determining module 1003 is further specifically configured to: and determining the motion acceleration of the robot according to the current gyroscope parameters of the robot.
The obtaining module 1001 is further specifically configured to: and acquiring the maximum bearable current of each steering engine of the robot.
The determining module 1003 is further specifically configured to: and adding the maximum bearable current of each steering engine to obtain a first current threshold value.
The control module 1002 is further specifically configured to: and controlling the robot to perform a squatting action so that the robot is adjusted to a squatting posture.
The control module 1002 is further specifically configured to: and controlling the robot to execute the target action, stopping supplying power to the robot, and outputting preset warning information.
An embodiment of the present application provides a computer device, as shown in fig. 7, the computer device includes: the processor 2001, a storage medium and a bus, the storage medium storing machine readable instructions executable by the processor 2001, the processor 2001 and the storage medium communicating with each other through the bus when the computer device is operated, the processor 2001 executing the machine readable instructions to execute the steps of the robot protection control method based on dynamic current detection in the foregoing embodiment.
The memory 2002, processor 2001, and bus elements are electrically coupled to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The robot protection control device based on dynamic current detection includes at least one software function module which can be stored in the memory 2002 in the form of software or firmware or solidified in an Operating System (OS) of a computer device. The processor 2001 is used to execute executable modules stored in the memory 2002, such as software functional modules and computer programs included in the robot protection and control device based on dynamic current detection.
The Memory 2002 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
Optionally, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program executes the steps of the embodiment of the robot protection control method based on dynamic current detection. The specific implementation and technical effects are similar, and are not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a computer-readable storage medium, which includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage media comprise: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A robot protection control method based on dynamic current detection is characterized by comprising the following steps:
acquiring the whole machine current value of the robot and the states of all steering engines of the robot;
obtain the information of each steering wheel of robot, the information of each steering wheel of robot includes: the current value of each steering engine and the rotation angle of each steering engine;
acquiring the current posture of the robot, wherein the current posture of the robot comprises: when the robot is in the current action, the robot is in a rotation angle sequence formed by rotation angles of all steering engines of the robot;
and if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to a first current threshold value, controlling the robot to execute a target action according to the current posture of the robot and stopping supplying power to the robot.
2. The robot protection control method based on dynamic current detection as claimed in claim 1, wherein if the state of at least one of the steering engines is abnormal and the overall current value of the robot is greater than or equal to a first current threshold, the method further comprises, before controlling the robot to execute a target action according to the current posture of the robot and stopping power supply to the robot:
if the detected current value of the first steering engine is larger than or equal to a second current threshold value and the rotation angle of the first steering engine is smaller than a preset threshold value, determining that the state of the first steering engine is abnormal;
the first steering engine is any one of the steering engines.
3. The robot protection control method based on dynamic current detection as claimed in claim 1, wherein if the state of at least one of the steering engines is abnormal and the overall current value of the robot is greater than or equal to a first current threshold, the method further comprises, before controlling the robot to execute a target action according to the current posture of the robot and stopping power supply to the robot:
acquiring the motion acceleration of the robot;
and if the current value of the leg steering engine of the robot is greater than or equal to a third current threshold value and the motion acceleration of the robot is smaller than a preset threshold value, determining that the state of the leg steering engine is abnormal.
4. The robot protection control method based on dynamic current detection as claimed in claim 3, wherein the acquiring of the motion acceleration of the robot comprises:
acquiring current gyroscope parameters of the robot;
and determining the motion acceleration of the robot according to the current gyroscope parameters of the robot.
5. The robot protection control method based on dynamic current detection as claimed in claim 1, wherein if the state of at least one of the steering engines is abnormal and the overall current value of the robot is greater than or equal to a first current threshold, the method further comprises, before controlling the robot to execute a target action according to the current posture of the robot and stopping power supply to the robot:
acquiring the maximum bearable current of each steering engine of the robot;
and adding the maximum bearable current of each steering engine to obtain a first current threshold value.
6. The robot protection control method based on dynamic current detection as claimed in claim 1, wherein the controlling the robot to perform a target action comprises:
controlling the robot to perform a squat action so that the robot adjusts to a squat posture.
7. The robot protection control method based on dynamic current detection according to any one of claims 1 to 6, wherein the controlling the robot to perform a target action and stop supplying power to the robot comprises:
and controlling the robot to execute a target action, stopping supplying power to the robot, and outputting preset warning information.
8. A robot protection control device based on dynamic current detection, the device comprising:
the acquisition module is used for acquiring the complete machine current value of the robot and the states of all steering engines of the robot;
the acquisition module is specifically still used for, acquires the information of each steering wheel of robot, the information of each steering wheel of robot includes: the current value of each steering engine and the rotation angle of each steering engine;
the obtaining module is further specifically configured to obtain a current pose of the robot, where the current pose of the robot includes: when the robot is in the current action, the robot is in a rotation angle sequence formed by the states of all steering engines of the robot;
and the control module is used for controlling the robot to execute a target action and stopping supplying power to the robot according to the current posture of the robot if the state of at least one steering engine in the steering engines is abnormal and the current value of the whole robot is greater than or equal to a first current threshold value.
9. A computer device, characterized in that the computer device comprises:
a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the computer device is running, the processor executing the machine-readable instructions to perform the steps of the dynamic current detection based robot protection control method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the dynamic current detection based robot protection control method according to any one of claims 1 to 7.
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